Paper Info
Title
Continuously-variable series-elastic actuator.
Abstract
Actuator efficiency is an important factor in the design of powered leg prostheses, orthoses, exoskeletons, and legged robots. A continuously-variable series-elastic actuator (CV-SEA) is presented as an efficient actuator for legged locomotion. The CV-SEA implements a continuously-variable transmission (CVT) between a motor and series elastic element. The CVT reduces the torque seen at the motor and allows the motor to operate in speed regimes of higher efficiency, while the series-elastic element efficiently stores and releases mechanical energy, reducing motor work requirements for actuator applications where an elastic response is sought. An energy efficient control strategy for the CV-SEA was developed using a Monte-Carlo minimization method that randomly generates transmission profiles and converges on those that minimize the electrical energy consumption of the motor. The CV-SEA is compared to a standard SEA and an infinitely variable series elastic actuator (IV-SEA). Simulations suggest that a CV-SEA will require less energy that an SEA or IV-SEA when used in a knee prosthesis during level-ground walking.
Year
DOI
Venue
2013
10.1109/ICORR.2013.6650402
ICORR
Keywords
Field
DocType
series elastic actuator,medical robotics,efficiency,continuously variable,cv-sea,level-ground walking,monte-carlo minimization method,electrical energy consumption,power transmission (mechanical),prostheses,transmission profiles,continuously-variable transmission,motor torque,monte carlo methods,exoskeletons,series elastic element,legged locomotion,torque control,energy conservation,motor work requirements,prosthetics,elastic response,mechanical energy,continuously-variable series-elastic actuator,knee prosthesis,orthoses,speed regimes,energy efficient control strategy,powered leg prostheses,infinitely variable series elastic actuator,energy consumption,cvt,iv-sea,minimisation,actuator applications,actuator efficiency,legged robots,torque,actuators,continuously variable transmission,energy efficiency
Energy conservation,Torque,Efficient energy use,Control theory,Exoskeleton,Engineering,Mechanical energy,Robot,Energy consumption,Actuator
Conference
Volume
ISSN
ISBN
2013
1945-7901
978-1-4673-6022-7
Citations 
PageRank 
References 
0
0.34
0
Authors
2
Name
Order
Citations
PageRank
Luke M. Mooney1475.30
Hugh M. Herr257570.59